Abstract:Multiple robot arm cooperation involves a variety of difficult problems in dynamics, control, controller architecture, distributed and parallel processing and interprocessor communication. This paper discusses the relevant issues related to some of these topics and describes the integration of motion, vision and force sensing in a multiple robot workcell environment. A parallel decentralized control architecture is designed and implemented for position and/or hybrid position-force control. Experiments illustrating coordinated multiple arm cooperation are discussed. The research work reported in this paper incorporates an intuitive practical approach. The vision and force integration imparts `sight' and `feel' to the robots, thereby making them more dextrous in a flexible manufacturing workcell.